KR20240002891A - Swivel Actuator - Google Patents

Abstract

The present invention is a swivel actuator that can increase breaking strength by increasing brake torque while minimizing backlash by adopting a double worm structure at both ends of the first and second gear trains. It's about.
The swivel actuator according to the present invention includes a lower housing with a central hollow cylindrical portion protruding upward; an upper housing that is stacked and assembled on top of the lower housing and has a through hole formed in the center where the hollow cylindrical portion protrudes upward; a drive motor disposed on the bottom of the lower housing and having a rotor worm gear integrally formed around the outer periphery of a cylindrical rotor support body extending upward through a through hole of the upper housing; Each is disposed and coupled at 180-degree intervals on the outer periphery of the rotor worm gear, and first and second worm wheels are formed in the middle of the first and second power transmission shafts and gear-coupled with the rotor worm gear, and the first and second power transmission shafts First and second gear trains with first to fourth worm gears formed on both sides; Third to sixth worm wheels geared to the first to fourth worm gears are formed at the lower ends of the first to fourth support shafts, respectively, and first to fourth pinion gears are integrated at the upper ends of the first to fourth support shafts. First to fourth pinion gear units formed of; and a rotary table in which rotation is achieved by gearing the first to fourth pinion gears to a ring gear integrally formed on the inside of the side portion.

Description

Swivel Actuator {Swivel Actuator}

The present invention relates to a swivel actuator. In particular, by adopting a double worm structure at both ends of the first and second gear trains, the breaking strength is improved by minimizing backlash and increasing brake torque. This relates to a swivel actuator that can increase .

An electric actuator serves to rotate or linearly move a driven object with high-torque torque obtained by converting the rotational force generated from a rotational power source into torque.

In general, due to the characteristics of the actuator, the overall housing height is low and the product is configured to be long either horizontally or vertically, so it is difficult to adopt a structure in which a DC motor with an external casing is mounted vertically on the inner floor of the housing.

When using a DC motor, the stopped position must be maintained when external pressure is applied to the output shaft that rotates forward or reverse, so the braking torque must be increased using a worm gear.

In order to use a worm gear and a worm wheel in a DC motor and transmit power to the location of the output shaft, a spur gear is generally used to connect. In this case, the following problems exist.

First, because the actuator's housing height is low, there is a problem in that DC motors are generally applied lying down, which makes assembly structure difficult and increases unit cost. In other words, there is a problem in securing assembly space due to the bearing that must hold the casing and worm shaft of the DC motor.

Second, the structure of connecting the motor power to the motor controller becomes complicated.

Third, information on the rotational position of the rotor is required for accurate position control in the actuator. For this purpose, a magnet for rotational position sensing is placed at the bottom of the worm gear of the DC motor, and a Hall sensor IC for rotational position sensing is applied, so DC power is used, and a Hall sensor is connected to the printed circuit board (PCB) to sense the rotational position. The structure is complex.

Fourth, in a gear train that uses multiple spur gears to generate the rotational power of the drive motor to obtain a large reduction ratio, the tolerance increases, resulting in increased backlash and difficult precise position control.

Meanwhile, recently, a swivel actuator has been used to rotate a driven body (i.e., car seat) left and right together with a rotary table as an actuator for rotating a vehicle car seat to the left and right.

Considering that conventional actuators use a DC motor lying down inside a low-height housing, an Almotor-type BLDC motor is installed vertically on the bottom of the housing and a reduction gear train is installed on the top to make it compact. A swivel actuator with a slim structure is proposed in Korean Patent Publication No. 10-2022-0056821 (Patent Document 1).

The swivel actuator of Patent Document 1 is also a power transmission structure that can minimize backlash by changing the gear train structure to minimize the number of combined gears by forming a worm wheel and worm gear integrally at a distance from the power transmission shaft. A structure that can rotate the rotary table is proposed.

However, Patent Document 1 is a structure that transmits rotational power using a single gear train between the BLDC motor and the pinion gear unit that drives the rotary table, so the tolerance between gears can be reduced, but cannot be completely reduced, and also the rotary table There is a problem that vibration cannot be suppressed because the brake torque that controls the left and right rotation of the driven body (i.e., car seat) that rotates together is low.

: Korean Patent Publication No. 10-2022-0056821

Therefore, the present invention was proposed to solve the problems of the prior art described above, and its purpose is to adopt a double worm structure at both ends of the power transmission shaft of the first and second gear trains, thereby providing four worm gears. By combining four pinion gear units and transmitting the rotational force converted into high torque through deceleration to the ring gear of the rotary table at four points, backlash can be minimized and vibration of the rotary table can be suppressed. The goal is to provide a swivel actuator.

Another object of the present invention is to reduce backlash by adopting a double worm structure at both ends of the first and second gear trains and driving the rotary table by combining four pinion gear units with four worm gears The goal is to provide a swivel actuator that can increase breaking strength by increasing brake torque while minimizing backlash.

Another object of the present invention is to suppress the left and right displacement in the bearing housing by using set screws on both ends of the power transmission shaft of the first and second gear trains, thereby eliminating the tolerance that occurs when coupling between gears and preventing backlash. The goal is to provide a swivel actuator capable of zero operation.

In order to achieve the above object, a swivel actuator according to an aspect of the present invention includes a lower housing with a central hollow cylindrical portion protruding upward; an upper housing that is stacked and assembled on top of the lower housing and has a through hole formed in the center where the hollow cylindrical portion protrudes upward; a drive motor disposed on the bottom of the lower housing and having a rotor worm gear integrally formed around the outer periphery of a cylindrical rotor support body extending upward through a through hole of the upper housing; Each is disposed and coupled at 180-degree intervals on the outer periphery of the rotor worm gear, and first and second worm wheels are formed in the middle of the first and second power transmission shafts and gear-coupled with the rotor worm gear, and the first and second power transmission shafts First and second gear trains with first to fourth worm gears formed on both sides; Third to sixth worm wheels geared to the first to fourth worm gears are formed at the lower ends of the first to fourth support shafts, respectively, and first to fourth pinion gears are integrated at the upper ends of the first to fourth support shafts. First to fourth pinion gear units formed of; and a rotary table in which rotation is achieved by gearing the first to fourth pinion gears to a ring gear integrally formed on the inside of the side portion.

The swivel actuator according to the present invention is disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and includes first and second bearings stacked in series; And it may further include a third bearing for rotatably supporting the rotary table on the outer periphery of the upper end of the hollow cylindrical part.

In addition, the swivel actuator according to the present invention may further include a bearing support disposed between the second bearing and the third bearing to press the outer periphery of the hollow cylindrical part and press the second bearing.

In this case, the upper housings are disposed opposite each other at 180-degree intervals around the through hole, respectively, and provide first and second gear trains and first to fourth pinion gear units for accommodating the first and second gear trains and the first to fourth pinion gear units. 2 It can be provided with grooves.

In addition, the drive motor includes a rotor rotatably coupled to the outer periphery of the hollow cylindrical portion and having a rotor support body whose lower end is formed in a cup shape. a stator disposed on the outside of the rotor with an air gap and disposed on the bottom of the housing to generate a rotating magnetic field to rotate the rotor; first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series; And it may include a bearing support that is press-coupled with the outer periphery of the hollow cylindrical part and presses the second bearing.

In this case, the rotor support body includes an inner groove provided on the inside of the lower end to serve as a bearing housing for accommodating the first and second bearings; And an outer groove formed on the outside of the lower end to serve as a support for accommodating the back yoke and magnet of the rotor, wherein the first and second bearings each have an inner ring supported on the hollow cylindrical portion and are located in the inner groove. The outer ring may be composed of a supported ball bearing.

In addition, the inner rings of the first and second bearings are supported at their lower ends by a stepped stopper formed on the outer periphery of the hollow cylindrical part by press-fitting the bearing support into the hollow cylindrical part, and the lower ends of the inner rings of the first and second bearings The outer ring may be supported in an inner groove provided on the inside of the lower end of the rotor support.

The swivel actuator according to the present invention may further include a rotor worm gear separation prevention protrusion protruding from the upper end of the bearing support to prevent the rotor from being separated from the first and second bearings and coming into contact with the third bearing.

In this case, the rotor worm gear is disposed in a vertical direction at the center of the through hole, and the first and second power transmission shafts are first and second power transmission shafts disposed opposite to each other at 180-degree intervals around the through hole of the upper housing. It is disposed in the groove in a horizontal direction perpendicular to the axis of the rotor worm gear, and the first to fourth support axes may be disposed in a vertical direction in the first and second grooves of the upper housing.

In addition, both ends of the first and second power transmission shafts are rotatably supported by bearings, and the bearing housing in which the bearings are embedded is provided with a plurality of sets to suppress left and right displacement of the first and second power transmission shafts. Screws can be installed.

The swivel actuator according to the present invention includes a pair of bearings that rotatably support both ends of the first and second power transmission shafts, respectively; a pair of bearing housings respectively installed in first and second grooves disposed opposite each other at 180-degree intervals around the through hole of the upper housing to accommodate and support the pair of bearings therein; And it may further include a pair of set screws, each of which is coupled to the rear end of the pair of bearing housings and whose front ends press and support the ends of the first and second power transmission shafts.

In this case, the swivel actuator according to the present invention further includes a through hole for adjusting the set screw formed on the wall of the upper housing and used to advance the set screw from the outside and fix the first and second power transmission shafts by pushing them to one side. can do.

As a result, the set screw rotates from the outside as a tool is used through the through hole for adjusting the set screw formed in the upper housing, thereby pushing and fixing the first and second power transmission shafts to one side. 2 Axial displacement of the power transmission shaft can be suppressed.

The swivel actuator according to the present invention includes a drive motor that generates rotational power through a rotor worm gear integrally formed on the outer periphery of a cylindrical rotor support body; First and second worm wheels, which are respectively arranged and coupled at 180-degree intervals on the outer periphery of the rotor worm gear to achieve primary deceleration, are formed in the middle of the first and second power transmission shafts, and are disposed on both sides of the first and second power transmission shafts. First and second gear trains formed with first to fourth worm gears; Third to sixth worm wheels, which are respectively gear-coupled with the first to fourth worm gears to achieve secondary deceleration, are rotatably coupled to the lower ends of the first to fourth support shafts, and the upper ends of the first to fourth support shafts First to fourth pinion gear units rotatably coupled to first to fourth pinion gears that rotate in conjunction with third to sixth worm wheels; and a rotary table in which a ring gear geared to the first to fourth pinion gears and performing third reduction is integrally formed on the inside of the side portion, wherein the rotary table is used to rotate the car seat. do.

The swivel actuator according to the present invention includes a lower housing in which a hollow cylindrical portion on which the cylindrical rotor support and the rotary table are rotatably supported protrudes upward at the center and the drive motor is installed; And an upper housing that is stacked and assembled on the upper part of the lower housing, has a through hole formed in the center where the hollow cylindrical part protrudes upward, and in which the first and second gear trains and first to fourth pinion gear units are installed. It may further include ;.

The first reduction ratio of the primary reduction, the second reduction ratio of the secondary reduction, and the third reduction ratio of the tertiary reduction may be set to be sequentially smaller toward the rear end.

In this case, when the rotor and rotor worm gear of the drive motor rotate clockwise, the first and second power transmission shafts rotate counterclockwise, and the rotary table may rotate clockwise.

In addition, the rotary table includes a top plate on which the driven body is installed; a side portion extending downward from the outside of the upper plate; and a ring gear integrally formed inside the side portion, wherein the first to fourth pinion gears of the first to fourth pinion gear units can be gear-coupled with the ring gear of the rotary table at 4 points. there is.

As described above, the present invention provides a power transmission structure that can minimize backlash through a gear train change structure that minimizes the number of combined gears by forming a worm wheel and a worm gear integrally at a distance from the power transmission shaft. . As a result, the present invention reduces the overall size and secures space compared to a conventional gear train combining a plurality of spur gears, thereby increasing design freedom and reducing costs.

In addition, in the present invention, the BLDC drive motor is installed on the bottom of the housing, and the first and second gear trains, which are integrally formed with a worm wheel and worm gear at the top at intervals from the power transmission shaft, are arranged symmetrically inside the housing to prevent backlash. ) can be minimized and at the same time the vibration of the rotary table can be suppressed.

Moreover, in the present invention, the BLDC drive motor is installed on the bottom of the housing, the worm wheels of the first and second gear trains are arranged symmetrically on the outer periphery of the cylindrical rotor worm gear of the drive motor, and 4 formed at both ends of the first and second gear trains. By combining four worm gears with four pinion gear units, the rotational force converted into high torque through deceleration is transmitted to the ring gear of the rotary table at four points, thereby minimizing backlash and suppressing vibration of the rotary table. can do.

In addition, in the present invention, by adopting a double worm structure at both ends of the first and second gear trains, backlash is prevented by combining four pinion gear units with four worm gears to drive the rotary table. ) can be minimized and the breaking strength can be increased by increasing the brake torque.

In general, a swivel actuator is rotatably supported on a fixed frame fixed to a floor panel inside a vehicle, and a car seat is installed on a rotating table installed on top of the swivel actuator.

In this case, the swivel actuator is driven electrically and can operate the rotary table to rotate in a desired direction with respect to the fixed frame according to the user's switch operation. The operation of the swivel actuator rotates by a preset angle in conjunction with the operation (turn-on) of the operation switch, or when the operation of the operation switch is stopped while rotation is made in conjunction with the operation (turn-on) of the operation switch (turn-on). -Off) It can be driven by stopping in the rotated position.

When the user drives the swivel actuator electrically and stops it after rotating to the desired rotation angle, a predetermined brake torque is applied between the output part of the drive motor, that is, the rotor worm gear and the rotary table, depending on the operation (turn-on) of the operation switch. (Brake Torque) is required.

Since the rotating table has rotational inertia, in order to stop it at the desired position, brake torque is determined by the power transmission mechanism of the gear train and pinion gear unit coupled between the rotor worm gear and the ring gear of the rotary table. It is necessary to increase .

The rotary table on which the user's car seat is installed cannot withstand large forces because the number of meshing gears between the ring gear and pinion gear arranged on the outside of the rotary table is small. In this case, since the pinion gear, which is a spur gear, has a smaller gear diameter than the ring gear, the number of meshing gears between the ring gear and the pinion gear is about 1ea to 1.5ea per pinion gear.

Therefore, in order to increase the brake torque between the ring gear and the pinion gear, it is desirable to increase the number of meshing gears (number of gear teeth in contact) as much as possible.

In this case, in the present invention, a double worm structure is adopted at both ends of the first and second gear trains, and four pinion gear units are combined with four worm gears to connect four pinion gear units to the ring gear of the rotary table at four points. The breaking strength can be increased by increasing the brake torque by driving the rotary table by increasing the number of meshing gears (number of gear teeth in contact) by transmitting from .

As the brake torque increases as described above, the degree of freedom in selecting the material of the gear increases. Accordingly, if SUS-processed products were previously used as gear materials, it is possible to use products made of sintered metal or plastic-processed products, which can be more competitive in terms of unit cost and mass production when combining gears. A design that increases the number of meshing gear teeth is desirable.

In addition, if the first and second gear trains are arranged symmetrically around the outer periphery of the cylindrical rotor worm gear inside the upper housing as described above, it is possible to reduce the tolerance between gears, but it is difficult to completely reduce it. In other words, the gap between the tiles and the gears is minimized, but a clearance between the gears occurs, which may cause a problem in which the rotary table coupled with the pinion gear unit and the gears shakes left and right.

This problem may be due to left/right (i.e. axial) displacement of both ends of the power transmission shaft forming the gear train in the bearing housing. Accordingly, in the present invention, a set screw is screwed to the set screw assembly extending from the rear end of the bearing housing to suppress left and right displacement in the bearing housing at both ends of the power transmission shaft, and a set screw for adjusting the set screw formed on the housing is added. Axial displacement of the first and second power transmission shafts can be suppressed by pushing and fixing the first and second power transmission shafts to one side by tightening a set screw from the outside through a through hole.

As a result, by suppressing the left and right displacement of the first and second power transmission shafts, the tolerance (gap) that occurs when engaging between gears between the worm gear of the gear train and the worm wheel of the pinion gear unit is eliminated, and as a result, the pinion gear unit Backlash can also be reduced to zero by eliminating the gap between the pinion gear and the ring gear of the rotary table.

1 to 3A are a perspective view, a plan view, and a cross-sectional view taken along line AA of FIG. 2, respectively, of an internal hollow swivel actuator according to a preferred embodiment of the present invention.
Figure 3b is a 1/2 enlarged view of an axial cross-section of an internal hollow swivel actuator according to a preferred embodiment of the present invention.
Figures 4 and 5 are a perspective view of the internal hollow swivel actuator according to a preferred embodiment of the present invention with the rotary table separated, and a plan view of Figure 4 with the rotary table removed, respectively.
FIGS. 6A to 6C are cross-sectional views taken along lines BB, CC, and DD of FIG. 5, respectively.
Figures 7 and 8 are respectively an exploded perspective view and a completely exploded perspective view of each module of the internal hollow swivel actuator according to a preferred embodiment of the present invention.
Figure 9 is a perspective view with the upper part of the rotary table removed in the internal hollow swivel actuator according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described with reference to the attached drawings.

In this process, the size or shape of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Additionally, terms specifically defined in consideration of the configuration and operation of the present invention may vary depending on the intention or custom of the user or operator. Definitions of these terms should be made based on the content throughout this specification.

The swivel actuator according to the present invention is used together with the rotary table to rotate the driven body, that is, the vehicle car seat, left and right. If a swivel actuator is installed on the lower plate fixed to the floor of the vehicle and the connection frame installed on the rotary table is fixed to the upper plate where the car seat is installed, the car seat can also be rotated according to the rotation of the rotary table.

In the following description, an internal hollow swivel actuator that drives a driven body using a BLDC type drive motor as a power source will be described.

In the present invention, where BLDC is difficult to apply to general motors, the motor is placed vertically at the bottom of the housing and the motor torque is increased by increasing the size in the radial direction. The drive motor has a stator and rotor placed on the bottom of the housing, and uses an inner rotor type BLDC motor.

The actuator according to the prior art consists of a motor part made of a DC motor, a gear part, and a rotating part as separate parts, so there are many problems such as assembly tolerances and parts supply when assembling the actuator product into a main body.

The swivel actuator according to the present invention is composed of a drive motor, gear train, and rotating body in an integrated form, so it can achieve miniaturization and slimming while solving the problems of the prior art.

In addition, the internal hollow swivel actuator according to the present invention is made in the shape of a disk, and is hollow on the inside, with a through hole for cable extraction formed in the center, and a driven body and a driven body at the top of the rotating body (rotating table). A plurality of coupling holes, for example, four, are formed to connect, and the lower end of the fixing bolt passes through the coupling hole and is screwed to a stud nut fixed to the inner surface of the rotary table.

Moreover, the internal hollow swivel actuator according to the present invention has a BLDC drive motor installed at the bottom of the housing, and the first and second gear trains, which are integrally formed with a worm wheel and worm gear at the top at intervals on the power transmission shaft, are symmetrical inside the housing. By arranging it, backlash can be minimized and vibration occurrence can be suppressed.

In the swivel actuator according to the present invention, an annular stator is disposed on the bottom of a housing, and a rotor with a rotor worm gear integrally formed on the upper side is disposed inside the stator. A pair of gear trains are coupled in a symmetrical structure on the outer periphery of the rotor worm gear, the worm wheels of the power transmission shaft forming each gear train are gear-coupled with the outer periphery of the rotor worm gear, and the four worm gears formed on both ends of the power transmission shaft are four. The four pinion gears are coupled to the worm wheel located at the bottom of each pinion gear unit, and the four pinion gears located at the top of the four pinion gear units are coupled at four points to the ring gear formed on the inside of the side part of the rotary table to achieve low speed and high torque conversion. The rotary table is driven to rotate using the generated rotational force.

As a result, the swivel actuator according to the present invention increases torque by decelerating the high-speed, low-torque rotational output of the drive motor, and when transmitting the rotational force converted to low-speed and high torque by deceleration to the rotary table, a pair of gear trains is coupled to the rotor worm gear of the drive motor in a symmetrical structure, forming a double worm structure at both ends of a pair of gear trains, and engaging the ring gear of the rotary table through four pinion gear units on the double worm. Number of gears (number of gear teeth in contact) ) can be transmitted by increasing the backlash, suppressing the vibration of the rotary table, and increasing the breaking strength by increasing the brake torque.

The swivel actuator according to the present invention includes a BLDC type drive motor, a pair of gear trains to increase the torque by decelerating the rotational power of the drive motor and then transmitting it to the rotary table, and four pinnies each coupled to both ends of the pair of gear trains. It includes a rotary table that is coupled at four points by the output of the on gear unit and the four pinion gear units and rotates together with the ring gear. A driven body is coupled to the rotary table and rotates together with the rotary table.

In this case, the drive motor, gear train, pinion gear unit, and rotary table are integrated into the housing.

Referring to Figures 1 to 9, the internal hollow swivel actuator 200 according to a preferred embodiment of the present invention includes a lower housing 10 with a central hollow cylindrical portion 11a protruding upward; An upper housing (15) that is stacked and assembled on top of the lower housing (10) and has a through hole (15c) in the center through which the hollow cylindrical portion (11a) protrudes upward; A drive motor 100 disposed on the bottom of the lower housing 10 and having a rotor worm gear 35 integrally formed around the outer periphery of the extended portion of the rotor support 34 extending to the upper part of the rotor 30; Each is disposed in the upper housing 15 and coupled to the outer periphery of the rotor worm gear 35, and is gear-coupled with the rotor worm gear 35 in the middle portion of the first and second power transmission shafts 71a and 71b. First and second worm wheels (72a, 72b) are formed and first to fourth worm gears (73a-73d) are formed on one side and the other of the first and second power transmission shafts (71a, 71b), respectively. gear train (70a, 70b); Third to sixth worm wheels (81a-81d) are formed at the bottom and gear-coupled with the first to fourth worm gears (73a-73d), and first to fourth pinion gears (82a-82d) are formed at the top. First to fourth pinion gear units (80a-80d) formed by; And the first to fourth pinion gears (82a-82d) of the first to fourth pinion gear units (80a-80d) are gear-coupled with the ring gear 24 integrally formed on the inside of the side portion to rotate. Includes a rotary table (20).

A hollow cylindrical portion 11a protrudes at the center of the lower housing 10, and a drive motor 100 is installed in the space between the hollow cylindrical portion 11a and the circular wall 10a.

In addition, the upper housing 15 is stacked and assembled on the upper part of the lower housing 10, and is fixed by fastening a plurality of fixing bolts or screws 17. The upper housing 15 accommodates the first and second gear trains 70a and 70b and first to fourth pinion gears 82a-82d, and a rotary table 20 rotates on the upper housing 15. Possibly installed.

For example, the drive motor 100 generates relatively high-speed rotational power, and the first and second gear trains 70a and 70b receive the high-speed rotational power and reduce the rotational speed to provide torque. This conversion generates reduced rotational power with increased torque.

Subsequently, the first to fourth pinion gears (82a-82d) are installed in a vertical direction on the first to fourth worm gears (73a-73d) of the first and second gear trains (70a, 70b), respectively. After receiving the reduced rotational power with increased torque, it is transmitted at four points to the ring gear 24 formed integrally with the rotary table 20 to rotate the rotary table 20 at low speed.

The drive motor 100 may be configured as an inner rotor type in which the rotor is disposed on the inside of the stator, and the rotor 30 is rotatably coupled to the outer periphery of the hollow cylindrical portion 11a of the lower housing 10. and a stator 40 disposed on the outside of the rotor 30 with an air gap and disposed on the bottom of the lower housing 10 to generate a rotating magnetic field to rotate the rotor 30. , a rotor worm gear 35 is integrally formed on the outer periphery of the extended portion of the rotor support 34 extending to the upper part of the rotor 30.

The magnet 31 disposed on the outer periphery of the back yoke 32 located on the inside of the rotor 30 is made of a plurality of divided magnet pieces of N and S poles, or a ring-shaped magnet with N and S poles. A multi-pole split magnetized magnet can be used, and the back yoke 32 is installed on the back of the magnet 31 to form a magnetic circuit.

The rotor 30 includes a rotor support 34 whose lower end is cup-shaped, and the rotor support 34 serves as a bearing housing for accommodating the first and second bearings 61 and 62. It includes an inner groove (34a) provided on the inside of the lower part and an outer groove (34b) formed on the outside of the lower part to serve as a support for accommodating the back yoke (32) and magnet (31) of the rotor.

In this case, the rotor support body 34 serves as a bearing housing in which the inner groove 34a provided on the inside of the lower end accommodates the first and second bearings 61 and 62, and is formed on the outside of the rotor support body 34. The outer groove (34b) also serves as a support body for accommodating the back yoke (32) and the magnet (31).

In addition, the rotor support body 34 has a cup-shaped lower portion that supports the first and second bearings 61 and 62, the back yoke 32, and the magnet 31 inside and outside, and a penetration of the upper housing 15 from the lower portion. It includes an upper end extending upward through a hole 15c, and a rotor worm gear 35 is integrally formed on the cylindrical outer periphery of the upper end.

As a result, the rotational output of the drive motor 100 is generated from the rotor worm gear 35 integrally formed on the upper part of the rotor support 34. In this case, the rotor support 34 may be manufactured by injection molding with the rotor worm gear 35 integrated at the upper end.

Between the rotor support 34 of the rotor 30 and the hollow cylindrical portion 11a of the lower housing 10, first and second bearings ( 61,62) are installed.

The first and second bearings 61 and 62 are stacked in series at the top and bottom between the rotor support 34 and the hollow cylindrical portion 11a and stably support the rotor 30.

When stacking a plurality of bearings, it is common for a gap to exist between adjacent bearings to maintain the gap between bearings. However, according to the present invention, the first and second bearings 61 and 62, which are stacked in series without leaving a gap between the bearings, support the rotor 30 over a large area and thus support the rotor 30 when the rotor 30 rotates. Verticality and dimensional stability can be achieved.

The first and second bearings 61 and 62 may be composed of ball bearings in which balls 61c and 62c are inserted between inner rings 61a and 62a and outer rings 61b and 62b.

The inner rings 61a and 62a of the first and second bearings 61 and 62 are supported at their lower ends by a stepped stopper 11b formed on the outer periphery of the hollow cylindrical portion 11a, and the first and second bearings 61 and 62 The outer rings 61b and 62b of the bearings 61 and 62 are supported in the inner groove 34a provided on the inside of the lower end of the rotor support body 34.

In addition, the inner rings 61a and 62a of the first and second bearings 61 and 62 are supported on the step stopper 11b by press-fitting the bearing support 64 into the hollow cylindrical portion 11a. It can be fixed.

Moreover, a rotor worm gear separation prevention protrusion 64a protrudes from the upper end of the bearing support 64 to prevent the rotor worm gear 35 formed in the extension part of the rotor support 34 from separation.

The rotor worm gear 35 rotates in the radial direction, CW or CCW, but receives force up and down.

The rotor worm gear 35 may cause the rotor 30 to separate from the first and second bearings 61 and 62 and touch the third bearing 63 due to force received up and down. In order to prevent such touching from occurring, it is desirable to provide a rotor worm gear separation prevention protrusion 64a on the bearing support 64.

The stator 40 includes a stator core 45 including a plurality of teeth 41 each having a "T" shape and a back yoke 42 interconnected with the plurality of teeth 41 to form a magnetic circuit; upper and lower insulators (44a, 44b) made of an insulating material integrally formed to surround an outer peripheral surface on which the coils (43) of each of the plurality of teeth are to be wound; and a coil 43 wound around the outer peripheral surface of the insulators 44a and 44b.

In this case, the insulators 44a and 44b may be integrally formed as a bobbin and stator support body surrounding the back yoke 42 along with a plurality of teeth 41.

In the swivel actuator 200 according to the present invention, the drive motor 100 may be configured as, for example, a BLDC motor with a 20 pole-18 slot structure. In addition, when the coil 43 of the stator 40 is wound around a plurality of teeth 41, the drive motor 100 winds the coil 43 in a three-phase structure of U, V, and W, and U, V, The other end of the W three-phase coil 43 may be connected in a Y-connection or star-connection method.

Moreover, the drive motor 100, for example, receives rotor position signals from two or three Hall sensors (H1-H3) mounted on the Hall sensor assembly 50 in the motor drive circuit, and then operates the inverter. It can be driven by a 6-step radio wave driving method.

The first and second gear trains (70a, 70b) face each other around the hollow cylindrical portion (11a) of the lower housing that protrudes upward through the through hole (15c) located in the center of the upper housing (15). The structure is disposed in the first and second grooves 16a and 16b formed on the bottom 15b.

The first and second gear trains (70a, 70b) include first and second power transmission shafts (71a, 71b) disposed opposite each other at 180-degree intervals on the outer periphery of the rotor worm gear (35), the first and First and second worm wheels (72a, 72b) geared to the rotor worm gear 35 in the middle portion of the second power transmission shafts (71a, 71b), and the first and second power transmission shafts (71a, 71b) ) and first to fourth worm gears 73a-73d formed on one side and the other, respectively.

The first and second power transmission shafts (71a, 71b) each have both ends rotatably supported by a pair of bearings (74a, 74b, 75a, 75b), and the first and second grooves (16a, 16b) ) is composed of a groove shape that accommodates the first and second gear trains (70a, 70b) and first to fourth pinion gear units (80a-80d).

The first and second gear trains (70a, 70b) include first and second worm wheels (72a, 72b) provided in the middle portions of the first and second power transmission shafts (71a, 71b), respectively, and the rotor worm gear ( 35), they are coupled opposite each other at 180-degree intervals on the outer periphery to transmit rotational power and achieve primary deceleration.

In this case, in the present invention, left and right displacement occurs in the bearing housings (77a-77d) where the first and second power transmission shafts (71a, 71b) support the two pairs of bearings (74a, 74b, 75a, 75b). Set screws (76a-76d) were added to the rear ends of the bearing housings (77a-77d) to limit the left and right flow of the first and second power transmission shafts (71a, 71b).

The set screws (76a-76d) have male threads formed on the outer periphery of the body, and a groove in the shape of "-" or "+" that can accommodate the tip of the driver is formed at the rear end, and the tip is curved or flat. It can be done in the form

The set screws (76a-76d) form female threads in through-holes penetrating inward from the rear end of the bearing housing (77a-77d), and the set screws (76a-76d) are screwed together to form four set screws (76a-76a-76d). The tip of 76d) is coupled to both ends of the first and second power transmission shafts 71a and 71b by pushing and compressing them.

The set screws (76a-76d) are four bearing housings (77a-) of four bearings (74a, 74b, 75a, 75b) that rotatably support both ends of the first and second power transmission shafts (71a, 71b). 77d), and is installed only on one side of the bearing housing (77a-77d) to support one end of the first and second power transmission shafts (71a, 71b) to support the first and second power transmission shafts (71a, 71b). It is also possible to suppress left and right flow by pushing 71a, 71b) in one direction.

The set screws (76a-76d) may have ends that protrude in a spherical shape to minimize contact with the ends of the first and second power transmission shafts (71a, 71b), or may have ends that have a planar shape. In the present invention, since the rpm of the drive motor 100 is small and the gear ratio is large, the shape of the tip of the set screws 76a-76d does not have a significant influence.

The first to fourth pinion gear units (80a-80d) are installed on first to fourth support shafts (83a-83d) whose lower ends are installed through the grooves (16a, 16b) of the upper housing (15). Third to sixth worm wheels (81a-81d), which are gear-coupled with the first to fourth worm gears (73a-73d), are rotatably coupled to the lower ends of the first to fourth support shafts (83a-83d), respectively. At the top, first to fourth pinion gears (82a-82d) are formed integrally with the third to sixth worm wheels (81a-81d).

When the third to sixth worm wheels (81a-81d) are rotatably supported at the lower ends of the first to fourth support shafts (83a-83d), contact friction occurs with the bottom surface of the upper housing (15). To minimize friction, a protrusion 84 for preventing friction protrudes from the portion where the first to fourth support shafts 83a-83d are installed.

The third to sixth worm wheels (81a-81d) and the first to fourth pinion gears (82a-82d) may be integrally formed by injection molding using synthetic resin, and may be manufactured separately and then assembled together. It is also possible to use it by rotatably coupling it to the support shaft 83.

The rotary table 20 includes a circular upper plate 21 and a side portion 23 extending downward from the outer periphery of the upper plate 21. The upper plate 21 may be formed with a plurality of coupling holes penetrating therethrough for coupling with the driven main body (eg, electric seat) installed on the rotary table 20.

At the center of the top plate 21, a motor drive assembly is installed on the outside of the swivel actuator 200 from the stator coil 43 of the drive motor 100 and a plurality of Hall sensors provided in the Hall sensor assembly 50. A central through hole 25 is formed through which a cable for connection to the furnace passes.

Accordingly, the cable is introduced into the lower portion through the central through hole 25 provided in the center of the upper plate and the hollow cylindrical portion 11a of the lower housing 10, and then through the through hole formed in the bottom of the lower housing 10. It is connected to the stator coil 43 and the hall sensor assembly 50 through (19a). The through hole (19a) is finished by assembling the through hole cover (19).

In this case, the printed circuit board (PCB) on which the motor driving circuit is implemented is installed on the outside of the swivel actuator 200 and then connected to the stator coil 43 and the Hall sensor assembly 50 of the driving motor 100 installed inside through the cable. ) can be connected to. However, the printed circuit board (PCB) on which the motor driving circuit is implemented can also be built into the space formed in the lower part of the lower housing 10 or the lower side of the upper housing 15.

When connected from the outside to the stator coil 43 of the internally installed drive motor 100 and the Hall sensor assembly 50 through the cable, the cable includes the U, V, and W output terminals of the inverter circuit and three Hall sensors. It is necessary to have 8 wires consisting of (Hall sensor) (H1~H3), Vcc, and GND.

In addition, the upper end of the hollow cylindrical part 11a of the lower housing 10 is located in the central through hole 25, and the rotary table 20 is installed at the center of the inner peripheral surface of the upper plate 21 with the hollow cylindrical part 11a. A third bearing 63 may be installed on the outer periphery to rotatably support it.

The third bearing 63 may be composed of a ball bearing in which a ball 63c is inserted between the inner ring 63a and the outer ring 63b. In this case, the outer ring 63b of the third bearing 63 is supported on the bearing housing 26 protruding from the lower part of the rotary table 20, and the inner ring 63a of the third bearing 63 has its lower end supported by the bearing. It is supported on the upper end of the support stand 64 and supported on the hollow cylindrical portion 11a of the lower housing 10.

In addition, the hollow type swivel actuator 200 has a stopper insertion groove 11c formed at the upper end of the hollow cylindrical portion 11a, and the stopper insertion groove 11c prevents the rotation table 20 from being separated. The stopper ring (13) is coupled to do so.

A ring gear 24 is integrally formed on the inside of the side portion 23 of the rotary table 20, and the ring gear 24 includes the first to fourth pinion gear units 80a-80d. To fourth pinion gears (82a-82d) are gear-coupled.

As described above, in the present invention, the first and second worm wheels (72a, 72b) are disposed in the middle of each of the first and second power transmission shafts (71a, 71b), and the first to fourth worm wheels (72a, 72b) are installed at both ends at a distance from each other. A power transmission structure that can minimize backlash is provided by a gear train change structure that minimizes the number of combined gears by forming worm gears (73a-73d) as one piece.

As a result, the present invention reduces the overall size and secures space compared to a conventional gear train combining a plurality of spur gears, thereby increasing design freedom and reducing costs.

In addition, in the present invention, the BLDC drive motor 100 is installed on the bottom of the lower housing 10, and the first and second worm wheels 72a and 72b are installed in the upper housing 15 assembled on the upper part of the lower housing 10. And the first to fourth worm gears (73a-73d) are formed integrally with the first and second power transmission shafts (71a, 71b) at intervals, and the upper housing (15) ) By arranging them opposite each other at 180-degree intervals inside, backlash can be minimized and vibration occurrence can be suppressed.

In the present invention, as described above, the two first and second gear trains (70a, 70b) are evenly arranged and coupled to the rotor worm gear (35) of the drive motor (100) at 180-degree intervals to transmit the first and second power. First to fourth worm gears (73a-73d) are integrally formed at both ends of the shafts (71a, 71b) to have a double worm structure, and four third worm gears (73a-73d) of the first to fourth pinion gear units (80a-80d) are integrally formed at both ends of the shafts (71a, 71b). Gear coupling is performed at four points on the ring gear 24 using the to sixth worm wheels (81a-81d) and the first to fourth pinion gears (82a-82d).

As a result, in the present invention, a double worm structure is adopted at both ends of the first and second gear trains 70a and 70b, respectively, so that four worm gears 73a-73d and four pinion gear units 80a- By driving the rotary table 20 by combining 80d), breaking strength can be increased by increasing brake torque while minimizing backlash.

It is possible to reduce the tolerance between gears by arranging the first and second gear trains 70a and 70b inside the upper housing 15 as described above, but it is difficult to completely reduce it. In other words, the gap between gears is minimized, but clearance between gears is generated and clearance occurs, so the rotary table 20 and the driven animal that are gear-coupled with the first to fourth pinion gears 82a-82d are shaken from side to side. Problems may arise.

This problem may be due to left and right displacement occurring at both ends of the power transmission shaft forming the gear train in the bearing housing. In the present invention, both ends of the first and second power transmission shafts 71a and 71b are rotatably supported by four bearings 74a, 74b, 75a, and 75b, respectively.

The four bearings (74a, 74b, 75a, 75b) are built into four bearing housings (77a-77d) fixed to the first and second grooves (16a, 16b) formed on the bottom of the upper housing (15). In the present invention, both ends of the first and second power transmission shafts (71a, 71b) are provided with four shafts at the rear ends of the four bearing housings (77a-77d) to suppress left and right displacement from occurring in the bearing housings (77a-77d). Set screws (76a-76d) were added.

As a result, by suppressing the left and right displacement of the first and second power transmission shafts 71a and 71b, the first to fourth worm gears 73a-73d of the first and second gear trains 70a and 70b and the first Eliminates the tolerance (gap) that occurs when engaging gears between the third to sixth worm wheels (81a-81d) of the first to fourth pinion gear units (80a-80d), and also eliminates the gap between the first to fourth pinion gear units (80a-80d). Backlash is also reduced to zero by eliminating the gap between the first to fourth pinion gears (82a-82d) of (80a-80d) and the ring gear (24) of the rotary table (20). can do.

Compression between the set screws (76a-76d) and the first and second power transmission shafts (71a, 71b) as described above is performed by assembling the first and second power transmission shafts (71a, 71b) inside the upper housing (15). After that, the set screws (76a-76d) are advanced in one direction from the outside through the set screw adjustment through hole (12) formed in the wall (15a) of the upper housing (15) to move the first and second power transmission shafts. By pushing (71a, 71b), the left and right flow of the first and second power transmission shafts (71a, 71b) can be suppressed.

Below, the operation of the internal hollow swivel actuator 200 according to the present invention will be described with reference to FIGS. 1 to 9.

The internal hollow swivel actuator 200 of the present invention first operates the BLDC drive motor 100 installed on the bottom of the lower housing 10, so that the rotor 30 rotates and the rotor support 34 of the rotor 30 The rotor worm gear 35 integrally formed on the upper side also rotates in the same direction.

When the rotor worm gear 35 rotates, the first and second worm wheels 72a of the first and second gear trains 70a and 70b are arranged at 180-degree intervals on the outer periphery of the rotor worm gear 35 and gear-coupled. As ,72b) rotates, primary deceleration occurs and the first and second power transmission shafts (71a, 71b) also rotate.

As a result, the first to fourth worm gears (73a-73d) formed on both sides of the first and second power transmission shafts (71a, 71b) are gear-coupled with the first to fourth pinion gear units (80a-80d). ) Secondary deceleration is achieved by rotating the third to sixth worm wheels (81a-81d).

Accordingly, the first to fourth pinion gears (82a-82d) located at the top of the first to fourth pinion gear units (80a-80d) are also rotated, and the first to fourth pinion gears (80a-80d) are also rotated. 82a-82d) are gear-engaged with the ring gear 24 provided on the rotary table 20 at 90-degree intervals and rotate in the same direction to achieve third deceleration.

Generally, the reduction ratio of a reduction device is calculated as (number of driven gear teeth/number of drive pinion gear teeth), and when multi-stage gear combination is performed, the total reduction ratio is calculated as the product of each reduction ratio.

In this case, in the present invention, the gear ratio (reduction ratio) (R1) between the rotor worm gear 35 of the drive motor 100 and the first and second worm wheels 72a and 72b of the first and second gear trains 70a and 70b ) is 20:1, the gear ratio (reduction ratio) (R2) between the first to fourth worm gears (73a-73d) and the third to sixth worm wheels (81a-81d) is 10:1, the first to fourth pinion By setting the gear ratio (reduction ratio) (R3) between the gears 82a-82d and the ring gear 24 to 2:1, a total reduction ratio of 400:1 can be easily achieved.

In this case, by setting the gear ratio (reduction ratio) between gears to be smaller as the output increases (i.e., R1 > R2 > R3), a stable high torque output can be obtained even if a large torque conversion occurs at the final stage.

For example, when the BLDC drive motor 100 rotates at 800 rpm, the swivel actuator 200 of the present invention is decelerated to 400:1 in the case of a total reduction ratio of 400:1 by three-stage deceleration, so that the rotary table 20 The rotation speed is lowered to a low speed of 2 rpm and the rotation torque is increased by 400 times, resulting in a large increase in torque.

When the swivel actuator 200 of the present invention is applied to a car seat, when holding a meeting inside a vehicle, it is possible to rotate the car seat to a desired angle and hold the meeting with the occupants facing each other.

As described above, in the present invention, the first and second gear trains (70a, 70b) are arranged in a symmetrical structure inside the upper housing (15), and each of the first and second gear trains (70a, 70b) has a double By adopting a double worm structure, backlash is minimized by combining four pinion gear units (80a-80d) with four worm gears (73a-73d) to drive the rotary table (20). The breaking strength can be increased by increasing the brake torque.

In addition, in the present invention, both ends of the first and second power transmission shafts 71a and 71b are formed extending from the rear ends of the bearing housings 77a-77d to suppress left and right displacement from occurring in the bearing housings 77a-77d. Set screws (76a-76d) were added to the set screw assembly.

In the present invention, after assembling all components of the swivel actuator 200 inside the upper housing 15, the set screw is assembled from the outside through the through hole 12 for adjusting the set screw formed in the wall 15a of the upper housing 15. Among the four set screws (76a-76d) installed in the unit, one for each of the first and second power transmission shafts (71a, 71b) is advanced in one direction to set the first and second set screws (76a-76d). By pushing and fixing the second power transmission shafts 71a and 71b to one side, left and right movement of the first and second power transmission shafts 71a and 71b can be suppressed.

As a result, the left-right displacement of the first and second power transmission shafts 71a and 71b is suppressed by tightening the set screws 76a-76d, thereby suppressing the first to second gear trains 70a and 70b. Eliminate the tolerance (gap) that occurs when engaging gears between the fourth worm gear (73a-73d) and the third to sixth worm wheels (81a-81d) of the first to fourth pinion gear units (80a-80d), , Also, remove the gap between the first to fourth pinion gears (82a-82d) of the first to fourth pinion gear units (80a-80d) and the ring gear 24 of the rotary table 20. Thus, backlash can also be set to zero.

In the above, the present invention has been shown and described by taking specific preferred embodiments as examples, but the present invention is not limited to the above-described embodiments and is within the scope of the spirit of the present invention and is within the scope of common knowledge in the technical field to which the invention pertains. Various changes and modifications will be possible by those who have.

The swivel actuator according to the present invention can be applied to rotate together with the rotary table to rotate a driven object such as a car seat installed on the rotary table to the left and right.

10: lower housing 10a: circular wall
11a: cylindrical part 11b: step part locking jaw
11c: Stopper insertion groove 12: Through hole for set screw adjustment
13: Stopper ring 15: Upper housing
15a: wall 15b: floor
15c, 19a: Through hole 16a, 16b: Groove
17: Fixing bolt 19: Cover
20: Rotating table 21: Top plate
23: side part 24: ring gear
25: Through hole 26: Bearing housing
30: rotor 31: magnet
32: Back yoke 31: Magnet
32: back yoke 34: rotor support
34a: inner groove 34b: outer groove
35: rotor worm gear 40: stator
41: tee 42: back yoke
43: coil 44a, 44b: insulator
45: Stator core 50: Hall sensor assembly
61~63,74a,74b,75a,75b: Bearing 64: Bearing support
70a, 70b: Gear train 71a, 71b: Power transmission shaft
72a,72b,81a-81d: Worm wheel 73a-73d: Worm gear
76a~76d: Set screw 77a~77d: Bearing housing
80a-80d: pinion gear unit 82a-82d: pinion gear
83a-83d: Support shaft 84: Protrusion for preventing friction
100: Drive motor 200: Swivel actuator

Claims (15)

a lower housing with a central hollow cylindrical portion protruding upward;
an upper housing that is stacked and assembled on top of the lower housing and has a through hole formed in the center where the hollow cylindrical portion protrudes upward;
a drive motor disposed on the bottom of the lower housing and having a rotor worm gear integrally formed around the outer periphery of a cylindrical rotor support body extending upward through a through hole of the upper housing;
Each is disposed and coupled at 180-degree intervals on the outer periphery of the rotor worm gear, and first and second worm wheels are formed in the middle of the first and second power transmission shafts and gear-coupled with the rotor worm gear, and the first and second power transmission shafts First and second gear trains with first to fourth worm gears formed on both sides;
Third to sixth worm wheels geared to the first to fourth worm gears are formed at the lower ends of the first to fourth support shafts, respectively, and first to fourth pinion gears are integrated at the upper ends of the first to fourth support shafts. First to fourth pinion gear units formed of; and
A swivel actuator including a rotary table in which the first to fourth pinion gears are gear-coupled with a ring gear integrally formed on the inside of the side portion to rotate. According to paragraph 1,
first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series; and
A swivel actuator further comprising a third bearing for rotatably supporting the rotary table on an outer periphery of an upper end of the hollow cylindrical portion. According to paragraph 2,
A swivel actuator further comprising a bearing support that is press-fitted to the outer periphery of the hollow cylindrical portion and disposed between the second bearing and the third bearing to press the second bearing. According to paragraph 1,
The upper housings are arranged opposite each other at 180-degree intervals around the through holes, and have first and second grooves for accommodating the first and second gear trains and first to fourth pinion gear units. Equipped with a swivel actuator. According to paragraph 1,
The driving motor is
A rotor including a rotor support whose lower end is cup-shaped and rotatably coupled to the outer periphery of the hollow cylindrical portion;
a stator disposed on the outside of the rotor with an air gap and disposed on the bottom of the housing to generate a rotating magnetic field to rotate the rotor;
first and second bearings disposed between the cup-shaped lower end of the rotor support and the lower end of the hollow cylindrical portion to rotatably support the rotor and stacked in series; and
A swivel actuator comprising a bearing support that is press-coupled to the outer periphery of the hollow cylindrical part and presses the second bearing. According to clause 5,
The rotor support is
an inner groove provided on the inside of the lower end to serve as a bearing housing for accommodating the first and second bearings; and
It includes an outer groove formed on the outside of the lower end to serve as a support for accommodating the back yoke and magnet of the rotor,
The first and second bearings are a swivel actuator each consisting of a ball bearing whose inner ring is supported by the hollow cylindrical portion and whose outer ring is supported by the inner groove. According to clause 5,
The lower ends of the inner rings of the first and second bearings are supported on a stepped stop formed on the outer periphery of the hollow cylindrical part by press-fitting the bearing support into the hollow cylindrical part,
A swivel actuator wherein the outer rings of the first and second bearings are supported in an inner groove provided on the inside of the lower end of the rotor support. According to clause 5,
A swivel actuator further comprising a rotor worm gear separation prevention protrusion protruding from the top of the bearing support to prevent the rotor from being separated from the first and second bearings and coming into contact with the third bearing. According to paragraph 1,
The rotor worm gear is disposed vertically in the center of the through hole,
The first and second power transmission shafts are arranged in a horizontal direction perpendicular to the axis of the rotor worm gear in first and second grooves arranged opposite to each other at 180 degree intervals around the through hole of the upper housing,
The first to fourth support shafts are a swivel actuator disposed in a vertical direction in the first and second grooves of the upper housing. According to paragraph 1,
Both ends of the first and second power transmission shafts are rotatably supported by bearings, and the bearing housing in which the bearings are installed is provided with a plurality of set screws to suppress left and right displacement of the first and second power transmission shafts. Swivel actuator installed. According to paragraph 1,
a pair of bearings rotatably supporting both ends of the first and second power transmission shafts, respectively;
a pair of bearing housings respectively installed in first and second grooves disposed opposite each other at 180-degree intervals around the through hole of the upper housing to accommodate and support the pair of bearings therein; and
A swivel actuator further comprising a pair of set screws, each of which is coupled to a rear end of the pair of bearing housings and whose front ends press and support the ends of the first and second power transmission shafts. According to clause 11,
A swivel actuator further comprising a through hole for adjusting a set screw formed on a wall of the upper housing and used to push and fix the first and second power transmission shafts to one side from the outside. A drive motor that generates rotational power through a rotor worm gear integrally formed on the outer periphery of the cylindrical rotor support body;
First and second worm wheels, which are respectively arranged and coupled at 180-degree intervals on the outer periphery of the rotor worm gear to achieve primary deceleration, are formed in the middle of the first and second power transmission shafts, and are disposed on both sides of the first and second power transmission shafts. First and second gear trains formed with first to fourth worm gears;
Third to sixth worm wheels, which are respectively gear-coupled with the first to fourth worm gears to achieve secondary deceleration, are rotatably coupled to the lower ends of the first to fourth support shafts, and the upper ends of the first to fourth support shafts First to fourth pinion gear units rotatably coupled to first to fourth pinion gears that rotate in conjunction with third to sixth worm wheels; and
It includes a rotary table in which a ring gear geared to the first to fourth pinion gears and performing tertiary reduction is integrally formed on the inside of the side portion,
The rotation table is a swivel actuator used to rotate the car seat. According to clause 13,
a lower housing in which a hollow cylindrical portion on which the cylindrical rotor support body and the rotary table are rotatably supported protrudes upward at the center and the drive motor is installed; and
An upper housing that is stacked and assembled on the upper part of the lower housing, has a through-hole formed in the center where the hollow cylindrical part protrudes upward, and in which the first and second gear trains and first to fourth pinion gear units are installed; A swivel actuator further comprising: According to clause 13,
A swivel actuator wherein the first reduction ratio of the primary reduction, the second reduction ratio of the secondary reduction, and the third reduction ratio of the tertiary reduction are sequentially set to be smaller toward the rear end.

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